Main EtherCAT functions. More...

#include <stdio.h>
#include <string.h>
#include "osal.h"
#include "oshw.h"
#include "ethercat.h"

Data Structures
struct	ec_eepromt

struct	ec_mbxerrort

struct	ec_emcyt

Macros
#define	EC_LOCALDELAY 200

#define	MAX_FPRD_MULTI 64

Functions
ec_adaptert *	ec_find_adapters (void)

void	ec_free_adapters (ec_adaptert *adapter)

void	ecx_pusherror (ecx_contextt context, const ec_errort Ec)

boolean	ecx_poperror (ecx_contextt context, ec_errort Ec)

boolean	ecx_iserror (ecx_contextt *context)

void	ecx_packeterror (ecx_contextt *context, uint16 Slave, uint16 Index, uint8 SubIdx, uint16 ErrorCode)

static void	ecx_mbxerror (ecx_contextt *context, uint16 Slave, uint16 Detail)

static void	ecx_mbxemergencyerror (ecx_contextt *context, uint16 Slave, uint16 ErrorCode, uint16 ErrorReg, uint8 b1, uint16 w1, uint16 w2)

int	ecx_init (ecx_contextt context, const char ifname)

int	ecx_init_redundant (ecx_contextt context, ecx_redportt redport, const char ifname, char if2name)

void	ecx_close (ecx_contextt *context)

uint8	ecx_siigetbyte (ecx_contextt *context, uint16 slave, uint16 address)

int16	ecx_siifind (ecx_contextt *context, uint16 slave, uint16 cat)

void	ecx_siistring (ecx_contextt context, char str, uint16 slave, uint16 Sn)

uint16	ecx_siiFMMU (ecx_contextt context, uint16 slave, ec_eepromFMMUt FMMU)

uint16	ecx_siiSM (ecx_contextt context, uint16 slave, ec_eepromSMt SM)

uint16	ecx_siiSMnext (ecx_contextt context, uint16 slave, ec_eepromSMt SM, uint16 n)

int	ecx_siiPDO (ecx_contextt context, uint16 slave, ec_eepromPDOt PDO, uint8 t)

int	ecx_FPRD_multi (ecx_contextt context, int n, uint16 configlst, ec_alstatust *slstatlst, int timeout)

int	ecx_readstate (ecx_contextt *context)

int	ecx_writestate (ecx_contextt *context, uint16 slave)

uint16	ecx_statecheck (ecx_contextt *context, uint16 slave, uint16 reqstate, int timeout)

uint8	ec_nextmbxcnt (uint8 cnt)

void	ec_clearmbx (ec_mbxbuft *Mbx)

int	ecx_mbxempty (ecx_contextt *context, uint16 slave, int timeout)

int	ecx_mbxsend (ecx_contextt context, uint16 slave, ec_mbxbuft mbx, int timeout)

int	ecx_mbxreceive (ecx_contextt context, uint16 slave, ec_mbxbuft mbx, int timeout)

void	ecx_esidump (ecx_contextt context, uint16 slave, uint8 esibuf)

uint32	ecx_readeeprom (ecx_contextt *context, uint16 slave, uint16 eeproma, int timeout)

int	ecx_writeeeprom (ecx_contextt *context, uint16 slave, uint16 eeproma, uint16 data, int timeout)

int	ecx_eeprom2master (ecx_contextt *context, uint16 slave)

int	ecx_eeprom2pdi (ecx_contextt *context, uint16 slave)

uint16	ecx_eeprom_waitnotbusyAP (ecx_contextt context, uint16 aiadr, uint16 estat, int timeout)

uint64	ecx_readeepromAP (ecx_contextt *context, uint16 aiadr, uint16 eeproma, int timeout)

int	ecx_writeeepromAP (ecx_contextt *context, uint16 aiadr, uint16 eeproma, uint16 data, int timeout)

uint16	ecx_eeprom_waitnotbusyFP (ecx_contextt context, uint16 configadr, uint16 estat, int timeout)

uint64	ecx_readeepromFP (ecx_contextt *context, uint16 configadr, uint16 eeproma, int timeout)

int	ecx_writeeepromFP (ecx_contextt *context, uint16 configadr, uint16 eeproma, uint16 data, int timeout)

void	ecx_readeeprom1 (ecx_contextt *context, uint16 slave, uint16 eeproma)

uint32	ecx_readeeprom2 (ecx_contextt *context, uint16 slave, int timeout)

static void	ecx_pushindex (ecx_contextt context, uint8 idx, void data, uint16 length)

static int	ecx_pullindex (ecx_contextt *context)

static void	ecx_clearindex (ecx_contextt *context)

static int	ecx_main_send_processdata (ecx_contextt *context, uint8 group, boolean use_overlap_io)

int	ecx_send_overlap_processdata_group (ecx_contextt *context, uint8 group)

int	ecx_send_processdata_group (ecx_contextt *context, uint8 group)

int	ecx_receive_processdata_group (ecx_contextt *context, uint8 group, int timeout)

int	ecx_send_processdata (ecx_contextt *context)

int	ecx_send_overlap_processdata (ecx_contextt *context)

int	ecx_receive_processdata (ecx_contextt *context, int timeout)

void	ec_pusherror (const ec_errort *Ec)

boolean	ec_poperror (ec_errort *Ec)

boolean	ec_iserror (void)

void	ec_packeterror (uint16 Slave, uint16 Index, uint8 SubIdx, uint16 ErrorCode)

int	ec_init (const char *ifname)

int	ec_init_redundant (const char ifname, char if2name)

void	ec_close (void)

uint8	ec_siigetbyte (uint16 slave, uint16 address)

int16	ec_siifind (uint16 slave, uint16 cat)

void	ec_siistring (char *str, uint16 slave, uint16 Sn)

uint16	ec_siiFMMU (uint16 slave, ec_eepromFMMUt *FMMU)

uint16	ec_siiSM (uint16 slave, ec_eepromSMt *SM)

uint16	ec_siiSMnext (uint16 slave, ec_eepromSMt *SM, uint16 n)

int	ec_siiPDO (uint16 slave, ec_eepromPDOt *PDO, uint8 t)

int	ec_readstate (void)

int	ec_writestate (uint16 slave)

uint16	ec_statecheck (uint16 slave, uint16 reqstate, int timeout)

int	ec_mbxempty (uint16 slave, int timeout)

int	ec_mbxsend (uint16 slave, ec_mbxbuft *mbx, int timeout)

int	ec_mbxreceive (uint16 slave, ec_mbxbuft *mbx, int timeout)

void	ec_esidump (uint16 slave, uint8 *esibuf)

uint32	ec_readeeprom (uint16 slave, uint16 eeproma, int timeout)

int	ec_writeeeprom (uint16 slave, uint16 eeproma, uint16 data, int timeout)

int	ec_eeprom2master (uint16 slave)

int	ec_eeprom2pdi (uint16 slave)

uint16	ec_eeprom_waitnotbusyAP (uint16 aiadr, uint16 *estat, int timeout)

uint64	ec_readeepromAP (uint16 aiadr, uint16 eeproma, int timeout)

int	ec_writeeepromAP (uint16 aiadr, uint16 eeproma, uint16 data, int timeout)

uint16	ec_eeprom_waitnotbusyFP (uint16 configadr, uint16 *estat, int timeout)

uint64	ec_readeepromFP (uint16 configadr, uint16 eeproma, int timeout)

int	ec_writeeepromFP (uint16 configadr, uint16 eeproma, uint16 data, int timeout)

void	ec_readeeprom1 (uint16 slave, uint16 eeproma)

uint32	ec_readeeprom2 (uint16 slave, int timeout)

int	ec_send_processdata_group (uint8 group)

int	ec_send_overlap_processdata_group (uint8 group)

int	ec_receive_processdata_group (uint8 group, int timeout)

int	ec_send_processdata (void)

int	ec_send_overlap_processdata (void)

int	ec_receive_processdata (int timeout)

Variables
PACKED_END ec_slavet	ec_slave [EC_MAXSLAVE]

int	ec_slavecount

ec_groupt	ec_group [EC_MAXGROUP]

static uint8	ec_esibuf [EC_MAXEEPBUF]

static uint32	ec_esimap [EC_MAXEEPBITMAP]

static ec_eringt	ec_elist

static ec_idxstackT	ec_idxstack

static ec_SMcommtypet	ec_SMcommtype [EC_MAX_MAPT]

static ec_PDOassignt	ec_PDOassign [EC_MAX_MAPT]

static ec_PDOdesct	ec_PDOdesc [EC_MAX_MAPT]

static ec_eepromSMt	ec_SM

static ec_eepromFMMUt	ec_FMMU

boolean	EcatError = FALSE

int64	ec_DCtime

ecx_portt	ecx_port

ecx_redportt	ecx_redport

ecx_contextt	ecx_context

Detailed Description

Main EtherCAT functions.

Initialisation, state set and read, mailbox primitives, EEPROM primitives, SII reading and processdata exchange.

Defines ec_slave[]. All slave information is put in this structure. Needed for most user interaction with slaves.

Macro Definition Documentation

◆ EC_LOCALDELAY

#define EC_LOCALDELAY 200

delay in us for eeprom ready loop

◆ MAX_FPRD_MULTI

#define MAX_FPRD_MULTI 64

Function Documentation

◆ ec_clearmbx()

void ec_clearmbx ( ec_mbxbuft * Mbx )

Clear mailbox buffer.

Parameters

[out] Mbx = Mailbox buffer to clear

◆ ec_close()

void ec_close ( void )

Close lib.

See also: ecx_close

◆ ec_eeprom2master()

int ec_eeprom2master ( uint16 slave )

Set eeprom control to master. Only if set to PDI.

Parameters

[in] slave = Slave number

Returns: >0 if OK

See also: ecx_eeprom2master

◆ ec_eeprom2pdi()

int ec_eeprom2pdi ( uint16 slave )

◆ ec_eeprom_waitnotbusyAP()

uint16 ec_eeprom_waitnotbusyAP	(	uint16	aiadr,
		uint16 *	estat,
		int	timeout
	)

◆ ec_eeprom_waitnotbusyFP()

uint16 ec_eeprom_waitnotbusyFP	(	uint16	configadr,
		uint16 *	estat,
		int	timeout
	)

◆ ec_esidump()

void ec_esidump	(	uint16	slave,
		uint8 *	esibuf
	)

Dump complete EEPROM data from slave in buffer.

Parameters

[in]	slave	= Slave number
[out]	esibuf	= EEPROM data buffer, make sure it is big enough.

See also: ecx_esidump

◆ ec_find_adapters()

ec_adaptert* ec_find_adapters ( void )

Create list over available network adapters.

Returns: First element in list over available network adapters.

◆ ec_free_adapters()

void ec_free_adapters ( ec_adaptert * adapter )

Free dynamically allocated list over available network adapters.

Parameters

[in] adapter = Struct holding adapter name, description and pointer to next.

◆ ec_init()

int ec_init ( const char * ifname )

Initialise lib in single NIC mode

Parameters

[in] ifname = Dev name, f.e. "eth0"

Returns: >0 if OK

See also: ecx_init

◆ ec_init_redundant()

int ec_init_redundant	(	const char *	ifname,
		char *	if2name
	)

Initialise lib in redundant NIC mode

Parameters

[in]	ifname	= Primary Dev name, f.e. "eth0"
[in]	if2name	= Secondary Dev name, f.e. "eth1"

Returns: >0 if OK

See also: ecx_init_redundant

◆ ec_iserror()

boolean ec_iserror ( void )

◆ ec_mbxempty()

int ec_mbxempty	(	uint16	slave,
		int	timeout
	)

Check if IN mailbox of slave is empty.

Parameters

[in]	slave	= Slave number
[in]	timeout	= Timeout in us

Returns: >0 is success

See also: ecx_mbxempty

◆ ec_mbxreceive()

int ec_mbxreceive	(	uint16	slave,
		ec_mbxbuft *	mbx,
		int	timeout
	)

Read OUT mailbox from slave. Supports Mailbox Link Layer with repeat requests.

Parameters

[in]	slave	= Slave number
[out]	mbx	= Mailbox data
[in]	timeout	= Timeout in us

Returns: Work counter (>0 is success)

See also: ecx_mbxreceive

◆ ec_mbxsend()

int ec_mbxsend	(	uint16	slave,
		ec_mbxbuft *	mbx,
		int	timeout
	)

Write IN mailbox to slave.

Parameters

[in]	slave	= Slave number
[out]	mbx	= Mailbox data
[in]	timeout	= Timeout in us

Returns: Work counter (>0 is success)

See also: ecx_mbxsend

◆ ec_nextmbxcnt()

uint8 ec_nextmbxcnt ( uint8 cnt )

Get index of next mailbox counter value. Used for Mailbox Link Layer.

Parameters

[in] cnt = Mailbox counter value [0..7]

Returns: next mailbox counter value

◆ ec_packeterror()

void ec_packeterror	(	uint16	Slave,
		uint16	Index,
		uint8	SubIdx,
		uint16	ErrorCode
	)

◆ ec_poperror()

boolean ec_poperror ( ec_errort * Ec )

◆ ec_pusherror()

void ec_pusherror ( const ec_errort * Ec )

◆ ec_readeeprom()

uint32 ec_readeeprom	(	uint16	slave,
		uint16	eeproma,
		int	timeout
	)

Read EEPROM from slave bypassing cache.

Parameters

[in]	slave	= Slave number
[in]	eeproma	= (WORD) Address in the EEPROM
[in]	timeout	= Timeout in us.

Returns: EEPROM data 32bit

See also: ecx_readeeprom

◆ ec_readeeprom1()

void ec_readeeprom1	(	uint16	slave,
		uint16	eeproma
	)

Read EEPROM from slave bypassing cache. Parallel read step 1, make request to slave.

Parameters

[in]	slave	= Slave number
[in]	eeproma	= (WORD) Address in the EEPROM

See also: ecx_readeeprom1

◆ ec_readeeprom2()

uint32 ec_readeeprom2	(	uint16	slave,
		int	timeout
	)

Read EEPROM from slave bypassing cache. Parallel read step 2, actual read from slave.

Parameters

[in]	slave	= Slave number
[in]	timeout	= Timeout in us.

Returns: EEPROM data 32bit

See also: ecx_readeeprom2

◆ ec_readeepromAP()

uint64 ec_readeepromAP	(	uint16	aiadr,
		uint16	eeproma,
		int	timeout
	)

Read EEPROM from slave bypassing cache. APRD method.

Parameters

[in]	aiadr	= auto increment address of slave
[in]	eeproma	= (WORD) Address in the EEPROM
[in]	timeout	= Timeout in us.

Returns: EEPROM data 64bit or 32bit

◆ ec_readeepromFP()

uint64 ec_readeepromFP	(	uint16	configadr,
		uint16	eeproma,
		int	timeout
	)

Read EEPROM from slave bypassing cache. FPRD method.

Parameters

[in]	configadr	= configured address of slave
[in]	eeproma	= (WORD) Address in the EEPROM
[in]	timeout	= Timeout in us.

Returns: EEPROM data 64bit or 32bit

See also: ecx_readeepromFP

◆ ec_readstate()

int ec_readstate ( void )

Read all slave states in ec_slave.

Returns: lowest state found

See also: ecx_readstate

◆ ec_receive_processdata()

int ec_receive_processdata ( int timeout )

◆ ec_receive_processdata_group()

int ec_receive_processdata_group	(	uint8	group,
		int	timeout
	)

Receive processdata from slaves. Second part from ec_send_processdata(). Received datagrams are recombined with the processdata with help from the stack. If a datagram contains input processdata it copies it to the processdata structure.

Parameters

[in]	group	= group number
[in]	timeout	= Timeout in us.

Returns: Work counter.

See also: ecx_receive_processdata_group

◆ ec_send_overlap_processdata()

int ec_send_overlap_processdata ( void )

◆ ec_send_overlap_processdata_group()

int ec_send_overlap_processdata_group ( uint8 group )

Transmit processdata to slaves. Uses LRW, or LRD/LWR if LRW is not allowed (blockLRW). Both the input and output processdata are transmitted in the overlapped IOmap. The outputs with the actual data, the inputs replace the output data in the returning frame. The inputs are gathered with the receive processdata function. In contrast to the base LRW function this function is non-blocking. If the processdata does not fit in one datagram, multiple are used. In order to recombine the slave response, a stack is used.

Parameters

[in] group = group number

Returns: >0 if processdata is transmitted.

See also: ecx_send_overlap_processdata_group

◆ ec_send_processdata()

int ec_send_processdata ( void )

◆ ec_send_processdata_group()

int ec_send_processdata_group ( uint8 group )

Transmit processdata to slaves. Uses LRW, or LRD/LWR if LRW is not allowed (blockLRW). Both the input and output processdata are transmitted. The outputs with the actual data, the inputs have a placeholder. The inputs are gathered with the receive processdata function. In contrast to the base LRW function this function is non-blocking. If the processdata does not fit in one datagram, multiple are used. In order to recombine the slave response, a stack is used.

Parameters

[in] group = group number

Returns: >0 if processdata is transmitted.

See also: ecx_send_processdata_group

◆ ec_siifind()

int16 ec_siifind	(	uint16	slave,
		uint16	cat
	)

Find SII section header in slave EEPROM.

Parameters

[in]	slave	= slave number
[in]	cat	= section category

Returns: byte address of section at section length entry, if not available then 0

See also: ecx_siifind

◆ ec_siiFMMU()

uint16 ec_siiFMMU	(	uint16	slave,
		ec_eepromFMMUt *	FMMU
	)

Get FMMU data from SII FMMU section in slave EEPROM.

Parameters

[in]	slave	= slave number
[out]	FMMU	= FMMU struct from SII, max. 4 FMMU's

Returns: number of FMMU's defined in section

See also: ecx_siiFMMU

◆ ec_siigetbyte()

uint8 ec_siigetbyte	(	uint16	slave,
		uint16	address
	)

Read one byte from slave EEPROM via cache. If the cache location is empty then a read request is made to the slave. Depending on the slave capabillities the request is 4 or 8 bytes.

Parameters

[in]	slave	= slave number
[in]	address	= eeprom address in bytes (slave uses words)

Returns: requested byte, if not available then 0xff

See also: ecx_siigetbyte

◆ ec_siiPDO()

int ec_siiPDO	(	uint16	slave,
		ec_eepromPDOt *	PDO,
		uint8	t
	)

Get PDO data from SII PDO section in slave EEPROM.

Parameters

[in]	slave	= slave number
[out]	PDO	= PDO struct from SII
[in]	t	= 0=RXPDO 1=TXPDO

Returns: mapping size in bits of PDO

See also: ecx_siiPDO

◆ ec_siiSM()

uint16 ec_siiSM	(	uint16	slave,
		ec_eepromSMt *	SM
	)

Get SM data from SII SM section in slave EEPROM.

Parameters

[in]	slave	= slave number
[out]	SM	= first SM struct from SII

Returns: number of SM's defined in section

See also: ecx_siiSM

◆ ec_siiSMnext()

uint16 ec_siiSMnext	(	uint16	slave,
		ec_eepromSMt *	SM,
		uint16	n
	)

Get next SM data from SII SM section in slave EEPROM.

Parameters

[in]	slave	= slave number
[out]	SM	= first SM struct from SII
[in]	n	= SM number

Returns: >0 if OK

See also: ecx_siiSMnext

◆ ec_siistring()

void ec_siistring	(	char *	str,
		uint16	slave,
		uint16	Sn
	)

Get string from SII string section in slave EEPROM.

Parameters

[out]	str	= requested string, 0x00 if not found
[in]	slave	= slave number
[in]	Sn	= string number

See also: ecx_siistring

◆ ec_statecheck()

uint16 ec_statecheck	(	uint16	slave,
		uint16	reqstate,
		int	timeout
	)

Check actual slave state. This is a blocking function.

Parameters

[in]	slave	= Slave number, 0 = all slaves
[in]	reqstate	= Requested state
[in]	timeout	= Timeout value in us

Returns: Requested state, or found state after timeout.

See also: ecx_statecheck

◆ ec_writeeeprom()

int ec_writeeeprom	(	uint16	slave,
		uint16	eeproma,
		uint16	data,
		int	timeout
	)

Write EEPROM to slave bypassing cache.

Parameters

[in]	slave	= Slave number
[in]	eeproma	= (WORD) Address in the EEPROM
[in]	data	= 16bit data
[in]	timeout	= Timeout in us.

Returns: >0 if OK

See also: ecx_writeeeprom

◆ ec_writeeepromAP()

int ec_writeeepromAP	(	uint16	aiadr,
		uint16	eeproma,
		uint16	data,
		int	timeout
	)

Write EEPROM to slave bypassing cache. APWR method.

Parameters

[in]	aiadr	= configured address of slave
[in]	eeproma	= (WORD) Address in the EEPROM
[in]	data	= 16bit data
[in]	timeout	= Timeout in us.

Returns: >0 if OK

See also: ecx_writeeepromAP

◆ ec_writeeepromFP()

int ec_writeeepromFP	(	uint16	configadr,
		uint16	eeproma,
		uint16	data,
		int	timeout
	)

Write EEPROM to slave bypassing cache. FPWR method.

Parameters

[in]	configadr	= configured address of slave
[in]	eeproma	= (WORD) Address in the EEPROM
[in]	data	= 16bit data
[in]	timeout	= Timeout in us.

Returns: >0 if OK

See also: ecx_writeeepromFP

◆ ec_writestate()

int ec_writestate ( uint16 slave )

Write slave state, if slave = 0 then write to all slaves. The function does not check if the actual state is changed.

Parameters

[in] slave = Slave number, 0 = master

Returns: 0

See also: ecx_writestate

◆ ecx_clearindex()

static void ecx_clearindex ( ecx_contextt * context )

static

Clear the idx stack.

Parameters

context = context struct

◆ ecx_close()

void ecx_close ( ecx_contextt * context )

Close lib.

Parameters

[in] context = context struct

◆ ecx_eeprom2master()

int ecx_eeprom2master	(	ecx_contextt *	context,
		uint16	slave
	)

Set eeprom control to master. Only if set to PDI.

Parameters

[in]	context	= context struct
[in]	slave	= Slave number

Returns: >0 if OK

◆ ecx_eeprom2pdi()

int ecx_eeprom2pdi	(	ecx_contextt *	context,
		uint16	slave
	)

Set eeprom control to PDI. Only if set to master.

Parameters

[in]	context	= context struct
[in]	slave	= Slave number

Returns: >0 if OK

◆ ecx_eeprom_waitnotbusyAP()

uint16 ecx_eeprom_waitnotbusyAP	(	ecx_contextt *	context,
		uint16	aiadr,
		uint16 *	estat,
		int	timeout
	)

◆ ecx_eeprom_waitnotbusyFP()

uint16 ecx_eeprom_waitnotbusyFP	(	ecx_contextt *	context,
		uint16	configadr,
		uint16 *	estat,
		int	timeout
	)

◆ ecx_esidump()

void ecx_esidump	(	ecx_contextt *	context,
		uint16	slave,
		uint8 *	esibuf
	)

Dump complete EEPROM data from slave in buffer.

Parameters

[in]	context	= context struct
[in]	slave	= Slave number
[out]	esibuf	= EEPROM data buffer, make sure it is big enough.

◆ ecx_FPRD_multi()

int ecx_FPRD_multi	(	ecx_contextt *	context,
		int	n,
		uint16 *	configlst,
		ec_alstatust *	slstatlst,
		int	timeout
	)

◆ ecx_init()

int ecx_init	(	ecx_contextt *	context,
		const char *	ifname
	)

Initialise lib in single NIC mode

Parameters

[in]	context	= context struct
[in]	ifname	= Dev name, f.e. "eth0"

Returns: >0 if OK

◆ ecx_init_redundant()

int ecx_init_redundant	(	ecx_contextt *	context,
		ecx_redportt *	redport,
		const char *	ifname,
		char *	if2name
	)

Initialise lib in redundant NIC mode

Parameters

[in]	context	= context struct
[in]	redport	= pointer to redport, redundant port data
[in]	ifname	= Primary Dev name, f.e. "eth0"
[in]	if2name	= Secondary Dev name, f.e. "eth1"

Returns: >0 if OK

◆ ecx_iserror()

boolean ecx_iserror ( ecx_contextt * context )

Check if error list has entries.

Parameters

[in] context = context struct

Returns: TRUE if error list contains entries.

◆ ecx_main_send_processdata()

static int ecx_main_send_processdata	(	ecx_contextt *	context,
		uint8	group,
		boolean	use_overlap_io
	)

static

Transmit processdata to slaves. Uses LRW, or LRD/LWR if LRW is not allowed (blockLRW). Both the input and output processdata are transmitted. The outputs with the actual data, the inputs have a placeholder. The inputs are gathered with the receive processdata function. In contrast to the base LRW function this function is non-blocking. If the processdata does not fit in one datagram, multiple are used. In order to recombine the slave response, a stack is used.

Parameters

[in]	context	= context struct
[in]	group	= group number
[in]	use_overlap_io	= flag if overlapped iomap is used

Returns: >0 if processdata is transmitted.

◆ ecx_mbxemergencyerror()

static void ecx_mbxemergencyerror	(	ecx_contextt *	context,
		uint16	Slave,
		uint16	ErrorCode,
		uint16	ErrorReg,
		uint8	b1,
		uint16	w1,
		uint16	w2
	)

static

Report Mailbox Emergency Error

Parameters

[in]	context	= context struct
[in]	Slave	= Slave number
[in]	ErrorCode	= Following EtherCAT specification
[in]	ErrorReg
[in]	b1
[in]	w1
[in]	w2

◆ ecx_mbxempty()

int ecx_mbxempty	(	ecx_contextt *	context,
		uint16	slave,
		int	timeout
	)

Check if IN mailbox of slave is empty.

Parameters

[in]	context	= context struct
[in]	slave	= Slave number
[in]	timeout	= Timeout in us

Returns: >0 is success

◆ ecx_mbxerror()

static void ecx_mbxerror	(	ecx_contextt *	context,
		uint16	Slave,
		uint16	Detail
	)

static

Report Mailbox Error

Parameters

[in]	context	= context struct
[in]	Slave	= Slave number
[in]	Detail	= Following EtherCAT specification

◆ ecx_mbxreceive()

int ecx_mbxreceive	(	ecx_contextt *	context,
		uint16	slave,
		ec_mbxbuft *	mbx,
		int	timeout
	)

Read OUT mailbox from slave. Supports Mailbox Link Layer with repeat requests.

Parameters

[in]	context	= context struct
[in]	slave	= Slave number
[out]	mbx	= Mailbox data
[in]	timeout	= Timeout in us

Returns: Work counter (>0 is success)

◆ ecx_mbxsend()

int ecx_mbxsend	(	ecx_contextt *	context,
		uint16	slave,
		ec_mbxbuft *	mbx,
		int	timeout
	)

Write IN mailbox to slave.

Parameters

[in]	context	= context struct
[in]	slave	= Slave number
[out]	mbx	= Mailbox data
[in]	timeout	= Timeout in us

Returns: Work counter (>0 is success)

◆ ecx_packeterror()

void ecx_packeterror	(	ecx_contextt *	context,
		uint16	Slave,
		uint16	Index,
		uint8	SubIdx,
		uint16	ErrorCode
	)

Report packet error

Parameters

[in]	context	= context struct
[in]	Slave	= Slave number
[in]	Index	= Index that generated error
[in]	SubIdx	= Subindex that generated error
[in]	ErrorCode	= Error code

◆ ecx_poperror()

boolean ecx_poperror	(	ecx_contextt *	context,
		ec_errort *	Ec
	)

Pops an error from the list.

Parameters

[in]	context	= context struct
[out]	Ec	= Struct describing the error.

Returns: TRUE if an error was popped.

◆ ecx_pullindex()

static int ecx_pullindex ( ecx_contextt * context )

static

Pull index of segmented LRD/LWR/LRW combination.

Parameters

[in] context = context struct

Returns: Stack location, -1 if stack is empty.

◆ ecx_pusherror()

void ecx_pusherror	(	ecx_contextt *	context,
		const ec_errort *	Ec
	)

Pushes an error on the error list.

Parameters

[in]	context	= context struct
[in]	Ec	pointer describing the error.

◆ ecx_pushindex()

static void ecx_pushindex	(	ecx_contextt *	context,
		uint8	idx,
		void *	data,
		uint16	length
	)

static

Push index of segmented LRD/LWR/LRW combination.

Parameters

[in]	context	= context struct
[in]	idx	= Used datagram index.
[in]	data	= Pointer to process data segment.
[in]	length	= Length of data segment in bytes.

◆ ecx_readeeprom()

uint32 ecx_readeeprom	(	ecx_contextt *	context,
		uint16	slave,
		uint16	eeproma,
		int	timeout
	)

Read EEPROM from slave bypassing cache.

Parameters

[in]	context	= context struct
[in]	slave	= Slave number
[in]	eeproma	= (WORD) Address in the EEPROM
[in]	timeout	= Timeout in us.

Returns: EEPROM data 32bit

◆ ecx_readeeprom1()

void ecx_readeeprom1	(	ecx_contextt *	context,
		uint16	slave,
		uint16	eeproma
	)

Read EEPROM from slave bypassing cache. Parallel read step 1, make request to slave.

Parameters

[in]	context	= context struct
[in]	slave	= Slave number
[in]	eeproma	= (WORD) Address in the EEPROM

◆ ecx_readeeprom2()

uint32 ecx_readeeprom2	(	ecx_contextt *	context,
		uint16	slave,
		int	timeout
	)

Read EEPROM from slave bypassing cache. Parallel read step 2, actual read from slave.

Parameters

[in]	context	= context struct
[in]	slave	= Slave number
[in]	timeout	= Timeout in us.

Returns: EEPROM data 32bit

◆ ecx_readeepromAP()

uint64 ecx_readeepromAP	(	ecx_contextt *	context,
		uint16	aiadr,
		uint16	eeproma,
		int	timeout
	)

Read EEPROM from slave bypassing cache. APRD method.

Parameters

[in]	context	= context struct
[in]	aiadr	= auto increment address of slave
[in]	eeproma	= (WORD) Address in the EEPROM
[in]	timeout	= Timeout in us.

Returns: EEPROM data 64bit or 32bit

◆ ecx_readeepromFP()

uint64 ecx_readeepromFP	(	ecx_contextt *	context,
		uint16	configadr,
		uint16	eeproma,
		int	timeout
	)

Read EEPROM from slave bypassing cache. FPRD method.

Parameters

[in]	context	= context struct
[in]	configadr	= configured address of slave
[in]	eeproma	= (WORD) Address in the EEPROM
[in]	timeout	= Timeout in us.

Returns: EEPROM data 64bit or 32bit

◆ ecx_readstate()

int ecx_readstate ( ecx_contextt * context )

Read all slave states in ec_slave.

Parameters

[in] context = context struct

Returns: lowest state found

◆ ecx_receive_processdata()

int ecx_receive_processdata	(	ecx_contextt *	context,
		int	timeout
	)

◆ ecx_receive_processdata_group()

int ecx_receive_processdata_group	(	ecx_contextt *	context,
		uint8	group,
		int	timeout
	)

Receive processdata from slaves. Second part from ec_send_processdata(). Received datagrams are recombined with the processdata with help from the stack. If a datagram contains input processdata it copies it to the processdata structure.

Parameters

[in]	context	= context struct
[in]	group	= group number
[in]	timeout	= Timeout in us.

Returns: Work counter.

◆ ecx_send_overlap_processdata()

int ecx_send_overlap_processdata ( ecx_contextt * context )

◆ ecx_send_overlap_processdata_group()

int ecx_send_overlap_processdata_group	(	ecx_contextt *	context,
		uint8	group
	)

Transmit processdata to slaves. Uses LRW, or LRD/LWR if LRW is not allowed (blockLRW). Both the input and output processdata are transmitted in the overlapped IOmap. The outputs with the actual data, the inputs replace the output data in the returning frame. The inputs are gathered with the receive processdata function. In contrast to the base LRW function this function is non-blocking. If the processdata does not fit in one datagram, multiple are used. In order to recombine the slave response, a stack is used.

Parameters

[in]	context	= context struct
[in]	group	= group number

Returns: >0 if processdata is transmitted.

◆ ecx_send_processdata()

int ecx_send_processdata ( ecx_contextt * context )

◆ ecx_send_processdata_group()

int ecx_send_processdata_group	(	ecx_contextt *	context,
		uint8	group
	)

Transmit processdata to slaves. Uses LRW, or LRD/LWR if LRW is not allowed (blockLRW). Both the input and output processdata are transmitted. The outputs with the actual data, the inputs have a placeholder. The inputs are gathered with the receive processdata function. In contrast to the base LRW function this function is non-blocking. If the processdata does not fit in one datagram, multiple are used. In order to recombine the slave response, a stack is used.

Parameters

[in]	context	= context struct
[in]	group	= group number

Returns: >0 if processdata is transmitted.

◆ ecx_siifind()

int16 ecx_siifind	(	ecx_contextt *	context,
		uint16	slave,
		uint16	cat
	)

Find SII section header in slave EEPROM.

Parameters

[in]	context	= context struct
[in]	slave	= slave number
[in]	cat	= section category

Returns: byte address of section at section length entry, if not available then 0

◆ ecx_siiFMMU()

uint16 ecx_siiFMMU	(	ecx_contextt *	context,
		uint16	slave,
		ec_eepromFMMUt *	FMMU
	)

Get FMMU data from SII FMMU section in slave EEPROM.

Parameters

[in]	context	= context struct
[in]	slave	= slave number
[out]	FMMU	= FMMU struct from SII, max. 4 FMMU's

Returns: number of FMMU's defined in section

◆ ecx_siigetbyte()

uint8 ecx_siigetbyte	(	ecx_contextt *	context,
		uint16	slave,
		uint16	address
	)

Read one byte from slave EEPROM via cache. If the cache location is empty then a read request is made to the slave. Depending on the slave capabilities the request is 4 or 8 bytes.

Parameters

[in]	context	= context struct
[in]	slave	= slave number
[in]	address	= eeprom address in bytes (slave uses words)

Returns: requested byte, if not available then 0xff

◆ ecx_siiPDO()

int ecx_siiPDO	(	ecx_contextt *	context,
		uint16	slave,
		ec_eepromPDOt *	PDO,
		uint8	t
	)

Get PDO data from SII PDO section in slave EEPROM.

Parameters

[in]	context	= context struct
[in]	slave	= slave number
[out]	PDO	= PDO struct from SII
[in]	t	= 0=RXPDO 1=TXPDO

Returns: mapping size in bits of PDO

◆ ecx_siiSM()

uint16 ecx_siiSM	(	ecx_contextt *	context,
		uint16	slave,
		ec_eepromSMt *	SM
	)

Get SM data from SII SM section in slave EEPROM.

Parameters

[in]	context	= context struct
[in]	slave	= slave number
[out]	SM	= first SM struct from SII

Returns: number of SM's defined in section

◆ ecx_siiSMnext()

uint16 ecx_siiSMnext	(	ecx_contextt *	context,
		uint16	slave,
		ec_eepromSMt *	SM,
		uint16	n
	)

Get next SM data from SII SM section in slave EEPROM.

Parameters

[in]	context	= context struct
[in]	slave	= slave number
[out]	SM	= first SM struct from SII
[in]	n	= SM number

Returns: >0 if OK

◆ ecx_siistring()

void ecx_siistring	(	ecx_contextt *	context,
		char *	str,
		uint16	slave,
		uint16	Sn
	)

Get string from SII string section in slave EEPROM.

Parameters

[in]	context	= context struct
[out]	str	= requested string, 0x00 if not found
[in]	slave	= slave number
[in]	Sn	= string number

◆ ecx_statecheck()

uint16 ecx_statecheck	(	ecx_contextt *	context,
		uint16	slave,
		uint16	reqstate,
		int	timeout
	)

Check actual slave state. This is a blocking function. To refresh the state of all slaves ecx_readstate()should be called

Parameters

[in]	context	= context struct
[in]	slave	= Slave number, 0 = all slaves (only the "slavelist[0].state" is refreshed)
[in]	reqstate	= Requested state
[in]	timeout	= Timeout value in us

Returns: Requested state, or found state after timeout.

◆ ecx_writeeeprom()

int ecx_writeeeprom	(	ecx_contextt *	context,
		uint16	slave,
		uint16	eeproma,
		uint16	data,
		int	timeout
	)

Write EEPROM to slave bypassing cache.

Parameters

[in]	context	= context struct
[in]	slave	= Slave number
[in]	eeproma	= (WORD) Address in the EEPROM
[in]	data	= 16bit data
[in]	timeout	= Timeout in us.

Returns: >0 if OK

◆ ecx_writeeepromAP()

int ecx_writeeepromAP	(	ecx_contextt *	context,
		uint16	aiadr,
		uint16	eeproma,
		uint16	data,
		int	timeout
	)

Write EEPROM to slave bypassing cache. APWR method.

Parameters

[in]	context	= context struct
[in]	aiadr	= configured address of slave
[in]	eeproma	= (WORD) Address in the EEPROM
[in]	data	= 16bit data
[in]	timeout	= Timeout in us.

Returns: >0 if OK

◆ ecx_writeeepromFP()

int ecx_writeeepromFP	(	ecx_contextt *	context,
		uint16	configadr,
		uint16	eeproma,
		uint16	data,
		int	timeout
	)

Write EEPROM to slave bypassing cache. FPWR method.

Parameters

[in]	context	= context struct
[in]	configadr	= configured address of slave
[in]	eeproma	= (WORD) Address in the EEPROM
[in]	data	= 16bit data
[in]	timeout	= Timeout in us.

Returns: >0 if OK

◆ ecx_writestate()

int ecx_writestate	(	ecx_contextt *	context,
		uint16	slave
	)

Write slave state, if slave = 0 then write to all slaves. The function does not check if the actual state is changed.

Parameters

[in]	context	= context struct
[in]	slave	= Slave number, 0 = master

Returns: Workcounter or EC_NOFRAME

Variable Documentation

◆ ec_DCtime

int64 ec_DCtime

◆ ec_elist

ec_eringt ec_elist

static

current slave for EEPROM cache buffer

◆ ec_esibuf

uint8 ec_esibuf[EC_MAXEEPBUF]

static

cache for EEPROM read functions

◆ ec_esimap

uint32 ec_esimap[EC_MAXEEPBITMAP]

static

bitmap for filled cache buffer bytes

◆ ec_FMMU

ec_eepromFMMUt ec_FMMU

static

buffer for EEPROM FMMU data

◆ ec_group

ec_groupt ec_group[EC_MAXGROUP]

slave group structure

◆ ec_idxstack

ec_idxstackT ec_idxstack

static

◆ ec_PDOassign

ec_PDOassignt ec_PDOassign[EC_MAX_MAPT]

static

PDO assign struct to store data of one slave

◆ ec_PDOdesc

ec_PDOdesct ec_PDOdesc[EC_MAX_MAPT]

static

PDO description struct to store data of one slave

◆ ec_slave

PACKED_END ec_slavet ec_slave[EC_MAXSLAVE]

Main slave data array. Each slave found on the network gets its own record. ec_slave[0] is reserved for the master. Structure gets filled in by the configuration function ec_config().

◆ ec_slavecount

int ec_slavecount

number of slaves found on the network

◆ ec_SM

ec_eepromSMt ec_SM

static

buffer for EEPROM SM data

◆ ec_SMcommtype

ec_SMcommtypet ec_SMcommtype[EC_MAX_MAPT]

static

SyncManager Communication Type struct to store data of one slave

◆ EcatError

boolean EcatError = FALSE

Global variable TRUE if error available in error stack

◆ ecx_context

ecx_contextt ecx_context

Initial value:

= {
    &ecx_port,          
    &ec_slave[0],       
    &ec_slavecount,     
    EC_MAXSLAVE,        
    &ec_group[0],       
    EC_MAXGROUP,        
    &ec_esibuf[0],      
    &ec_esimap[0],      
    0,                  
    &ec_elist,          
    &ec_idxstack,       
    &EcatError,         
    0,                  
    0,                  
    &ec_DCtime,         
    &ec_SMcommtype[0],  
    &ec_PDOassign[0],   
    &ec_PDOdesc[0],     
    &ec_SM,             
    &ec_FMMU,           
    NULL,               
    NULL,               
    0                   
}

◆ ecx_port

ecx_portt ecx_port

◆ ecx_redport

ecx_redportt ecx_redport

Data Structures

Macros

Functions

Variables

Detailed Description

Macro Definition Documentation

◆ EC_LOCALDELAY

◆ MAX_FPRD_MULTI

Function Documentation

◆ ec_clearmbx()

◆ ec_close()

◆ ec_eeprom2master()

◆ ec_eeprom2pdi()

◆ ec_eeprom_waitnotbusyAP()

◆ ec_eeprom_waitnotbusyFP()

◆ ec_esidump()

◆ ec_find_adapters()

◆ ec_free_adapters()

◆ ec_init()

◆ ec_init_redundant()

◆ ec_iserror()

◆ ec_mbxempty()

◆ ec_mbxreceive()

◆ ec_mbxsend()

◆ ec_nextmbxcnt()

◆ ec_packeterror()

◆ ec_poperror()

◆ ec_pusherror()

◆ ec_readeeprom()

◆ ec_readeeprom1()

◆ ec_readeeprom2()

◆ ec_readeepromAP()

◆ ec_readeepromFP()

◆ ec_readstate()

◆ ec_receive_processdata()

◆ ec_receive_processdata_group()

◆ ec_send_overlap_processdata()

◆ ec_send_overlap_processdata_group()

◆ ec_send_processdata()

◆ ec_send_processdata_group()

◆ ec_siifind()

◆ ec_siiFMMU()

◆ ec_siigetbyte()

◆ ec_siiPDO()

◆ ec_siiSM()

◆ ec_siiSMnext()

◆ ec_siistring()

◆ ec_statecheck()

◆ ec_writeeeprom()

◆ ec_writeeepromAP()

◆ ec_writeeepromFP()

◆ ec_writestate()

◆ ecx_clearindex()

◆ ecx_close()

◆ ecx_eeprom2master()

◆ ecx_eeprom2pdi()

◆ ecx_eeprom_waitnotbusyAP()

◆ ecx_eeprom_waitnotbusyFP()

◆ ecx_esidump()

◆ ecx_FPRD_multi()

◆ ecx_init()

◆ ecx_init_redundant()

◆ ecx_iserror()

◆ ecx_main_send_processdata()

◆ ecx_mbxemergencyerror()

◆ ecx_mbxempty()

◆ ecx_mbxerror()

◆ ecx_mbxreceive()

◆ ecx_mbxsend()

◆ ecx_packeterror()

◆ ecx_poperror()

◆ ecx_pullindex()

◆ ecx_pusherror()

◆ ecx_pushindex()

◆ ecx_readeeprom()

◆ ecx_readeeprom1()

◆ ecx_readeeprom2()

◆ ecx_readeepromAP()

◆ ecx_readeepromFP()

◆ ecx_readstate()